CN111578837B - Plant shape visual tracking measurement method for agricultural robot operation - Google Patents
Plant shape visual tracking measurement method for agricultural robot operation Download PDFInfo
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- CN111578837B CN111578837B CN202010367606.4A CN202010367606A CN111578837B CN 111578837 B CN111578837 B CN 111578837B CN 202010367606 A CN202010367606 A CN 202010367606A CN 111578837 B CN111578837 B CN 111578837B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The embodiment of the invention relates to the field of agricultural intelligent equipment, and provides a plant form visual tracking and measuring method for agricultural robot operation. Acquiring stem image information of a plant under a plurality of view fields, and determining plant stem three-dimensional morphological information based on the plurality of stem image information; each main stem image information comprises a tracking target reference point which is positioned at the lowest end of a central line of the main stem of the plant in a corresponding view field and a tracking starting reference point which is positioned in the middle of the main stem of the plant; acquiring stem image information of plants under multiple visual fields comprises the following steps: to a first orderiThe tracking start reference point within the individual field of view serves as the tracking target reference point within the (i + 1) th field of view. The plant shape visual tracking and measuring method for the agricultural robot operation, provided by the embodiment of the invention, takes the main stem of the plant as a guide, tracks and collects discrete small-field images of different areas of the plant, improves the target identification and positioning efficiency, and is beneficial to realizing accurate measurement of the main stem shape of the tracking area.
Description
Technical Field
The invention relates to the technical field of agricultural intelligent equipment, in particular to a plant form visual tracking and measuring method for agricultural robot operation.
Background
In the fruit and vegetable planting industry, labor intensive links such as pruning, threshing, pollination, picking and pesticide spraying consume more than 70% of the labor input in the whole production period, and the labor management cost rises continuously to more than 35% of the total production cost. Therefore, it is necessary to develop an agricultural robot that replaces or assists manual work to reduce labor costs.
In an agricultural robot, the acquisition of visual information of a working object is an important prerequisite for supporting the operation of the agricultural robot. The current agricultural robot's visual system adopts fixed mounting mode more to fixed gesture and visual angle carry out the acquirement of visual information, are difficult to acquire the target of different spatial position comprehensively. In addition, in the traditional scheme, large view field images are collected more, the space between crop rows is narrow, operation targets are distributed in a disordered mode, and the large view field image identification mode has the problems of small imaging object distance and more redundant interference. Moreover, the existing vision system mostly adopts a mode of randomly collecting images without reference, the searching efficiency of the target is low, the searching range is limited, and the working efficiency of the agricultural robot is influenced.
Disclosure of Invention
The invention aims to provide a plant form visual tracking and measuring method for agricultural robot operation, which is used for solving the problems that the existing visual tracking method is low in searching efficiency, limited in searching range and difficult to realize accurate measurement.
In order to solve the problems, the invention provides a plant shape visual tracking measuring method facing an agricultural robot, which comprises the steps of obtaining stem image information of a plant under a plurality of view fields, and determining plant stem three-dimensional shape information based on the plurality of stem image information; each main stem image information comprises a tracking target reference point which is positioned at the lowest end of a central line of the plant main stem in the corresponding view field and a tracking starting reference point which is positioned in the middle of the plant main stem;
the acquiring of the stem image information under multiple fields of view of the plant comprises: and taking the tracking starting reference point in the ith field of view as the tracking target reference point in the (i + 1) th field of view.
Preferably, said determining plant stem stereomorphic information based on a plurality of said stem image information comprises:
and determining the three-dimensional information of the plant based on the plurality of stem image information, and determining the three-dimensional morphological information of the plant stem based on the three-dimensional information.
Preferably, the stem image information is acquired by a multi-view vision system, the multi-view vision system includes a binocular vision camera and a two-degree-of-freedom pan-tilt mechanism for installing the binocular vision camera, and correspondingly, the determining the stereoscopic information of the plant based on the plurality of stem image information includes:
and converting the stem image information in the multiple fields of view into a standard coordinate system by using a binocular vision camera coordinate system under the initial field of view as the standard coordinate system, and determining the length L and the growth inclination angle omega of the plant stem based on the coordinates of the reference points in the stem image information in the standard coordinate system under the multiple fields of view.
Preferably, the converting the stem image information in a plurality of fields of view into a standard coordinate system comprises:
reference points in the stem image information
Converting the coordinate into the coordinate under the standard coordinate system according to the following formula
Wherein the content of the first and second substances,
is a reverse transformation matrix from an initial attitude to an attitude i of the two-degree-of-freedom pan-tilt mechanism, and T is a pan-tilt coordinate system OT-XTYTZTAnd a visual coordinate system OC-XCYCZCA transformation matrix between.
Preferably, the determining the length L and the growth inclination angle ω of the main stem of the plant based on the coordinates of the reference points in the main stem image information in the multiple fields of view in the standard coordinate system specifically includes:
wherein a and b satisfy the formula
Preferably, the taking the tracking start reference point in the ith field as the tracking target reference point in the (i + 1) th field specifically includes:
and determining the horizontal rotation angle alpha and the vertical rotation angle beta of the transferred view field of the binocular vision camera based on the coordinate values of the same space point in different view fields.
Preferably, the horizontal rotation angle alpha and the vertical rotation angle beta of the binocular vision camera to shift the field of view are determined based on the following formulas,
in the formula (x)T,yT,zT) Is the coordinate of the holder coordinate system of the space point P, (x'T,y'T,z'T) The expected coordinates of the spatial point P after the binocular vision camera has been transferred.
The plant form visual tracking and measuring method for the agricultural robot operation, provided by the embodiment of the invention, takes the main stem of a plant as a guide, takes the tracking starting reference point in the ith view field as the tracking target reference point in the (i + 1) th view field, tracks and collects discrete small view field images in different areas, improves the target identification and positioning efficiency, and is beneficial to realizing accurate measurement of the main stem form of the tracking area.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a plant shape visual tracking measurement method for agricultural robot operation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a multi-view vision system according to an embodiment of the present invention;
FIG. 3 is a schematic view of field adjustment according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for determining stereoscopic morphological information of a main stem of a plant according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a method for determining stereo morphological information of a main stem of a plant according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
In the figure:
1. a binocular vision camera; 2. a vertical rotation mechanism; 3. and a horizontal rotating mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "first" and "second" are used for the sake of clarity in describing the numbering of the components of the product and do not represent any substantial difference, unless explicitly stated or limited otherwise. The directions of "up", "down", "left" and "right" are all based on the directions shown in the attached drawings. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a schematic flow chart of a plant morphology visual tracking and measuring method for agricultural robot operation according to an embodiment of the present invention, as shown in fig. 1, the method includes:
Specifically, the stem image information is acquired by a multi-perspective vision system. Fig. 2 is a schematic structural diagram of a multi-view vision system according to an embodiment of the present invention, and as shown in fig. 2, the multi-view vision system includes a binocular vision camera 1 and a two-degree-of-freedom pan-tilt mechanism, where the binocular vision camera 1 is configured with 1/3 ″ CCD and 8mm focal length lens, the two-degree-of-freedom pan-tilt mechanism includes a vertical rotation mechanism 2 and a horizontal rotation mechanism 3, and a rotation direction of the horizontal rotation mechanism 3 is perpendicular to a rotation direction of the vertical rotation mechanism 2. Specifically, the vertical rotation mechanism 2 is mounted on a rotation platform of the horizontal rotation mechanism 3, and the coordinate position of the binocular vision camera 1 in space can be adjusted by cooperation of the vertical rotation mechanism 2 and the horizontal rotation mechanism 3. Taking plant target tomatoes as examples, setting individual tomato managementThe width of the operation area is 300mm, the height is 900mm, and the main stems of the tomatoes in the area are in an inclined posture. The binocular vision camera is 900mm away from the tomato plant, and an image of a visual field area with the width of about 450mm and the height of 400mm can be obtained. The two-degree-of-freedom holder can rotate vertically and horizontally to adjust the space posture of the binocular vision camera and acquire images of different areas of tomato plants from different visual angles. Wherein the visual coordinate system OC-XCYCZCOrigin O ofCAt the center of the left camera photosensitive chip, XCAnd YCRespectively coincide with the central line of the camera photosensitive chip, ZCThe axis coincides with the optical center of the lens. Cloud platform coordinate system OT-XTYTZTMiddle ZTThe axis being its horizontal axis of rotation, XTThe axis being its vertical axis of rotation, origin OTIs the intersection point of the two axes. FIG. 3 is a schematic view of the field-of-view adjustment according to the embodiment of the present invention, as shown in FIG. 3, the coordinates of the images of the upper end, the lower end and the middle point of the central line of the stem in the field of view of the binocular vision camera are (u)top,vtop)、(ubottom,vbottom) And (u)centor,vcentor). Because the binocular vision camera carries out directional search on the main stems of the plants from bottom to top and the distortion error of the edge of the visual field is large, (u)centor,vcentor) To track the starting reference point, (u)bottom,vbottom) To track a target reference point. Visual coordinates (x) corresponding to two reference points in the same field of viewC,yC,zC) And (x'C,y'C,z'C) Can be measured by a binocular vision camera.
The camera is adjusted to i +1 from the attitude i, and the middle point P needs to be moved from the initial reference point to the target reference point, namely the image coordinate of the camera is (u)centor,vcentor) Move down to (u)bottom,vbottom). Considering that the morphological change of the main stem of the plant is limited in the small visual field area, the coordinates (u) in the images obtained by the binocular vision cameras with the postures i and i +1 can be consideredbottom,vbottom) The corresponding visual coordinates are approximately equal to (x'C,y'C,z'C)。
And 120, determining the stereoscopic morphological information of the plant stem based on the plurality of stem image information.
Specifically, the information of the plant stem under the large visual field is determined by splicing the image information of the multiple stems, and then the three-dimensional morphological information of the plant stem is determined. The plant stem three-dimensional morphological information can also be directly determined through a plurality of stem image information.
The plant morphology visual tracking measurement method provided by the embodiment of the invention takes the main stem of the plant as a guide, takes the tracking initial reference point in the ith view field as the tracking target reference point in the (i + 1) th view field, tracks and collects discrete small view field images in different areas, improves the target identification and positioning efficiency, and is beneficial to realizing the accurate measurement of the main stem morphology of the tracking area.
Based on the above embodiments, fig. 4 is a schematic flow chart of the method for determining plant stem three-dimensional morphological information according to the embodiment of the present invention. As shown in fig. 4, in the method, determining the plant stem stereomorphy information based on the plurality of stem image information includes:
and step 420, determining the stereo morphological information of the main stem of the plant based on the stereo information.
Based on the above embodiment, the stem image information is acquired by the multi-view vision system, which includes the binocular vision camera and the two-degree-of-freedom pan-tilt mechanism for mounting the binocular vision camera. Fig. 5 is another schematic flow chart of a method for determining plant stem stereo morphological information according to an embodiment of the present invention. As shown in fig. 5, determining stereoscopic information of the plant based on the plurality of stem image information includes: step 510, converting the stem image information in the multiple view fields into a standard coordinate system by taking a binocular vision camera coordinate system under the initial view field as the standard coordinate system; and step 520, determining the length L and the growth inclination angle omega of the main stem of the plant based on the coordinates of the reference points in the image information of the main stem in the plurality of fields of view in the standard coordinate system.
Based on the above embodiment, converting the stem image information within the plurality of fields of view into the standard coordinate system includes:
main stem drawingReference points in image information
Converting the coordinate into the coordinate under the standard coordinate system according to the following formula
Wherein the content of the first and second substances,
is a reverse transformation matrix from an initial attitude to an attitude i of the two-degree-of-freedom pan-tilt mechanism, and T is a pan-tilt coordinate system OT-XTYTZTAnd a visual coordinate system OC-XCYCZCA transformation matrix between.
Specifically, if the two-degree-of-freedom pan-tilt head winds around Z in sequenceTAnd XTThe rotation angles of the axis are alpha and beta respectively, and the coordinate system O is represented according to the Euler angle rotation matrix representation methodT-XTYTZTThe relative attitude transformation matrix before and after rotation can be represented as B. B is represented by the rotation matrix RBAnd a translation vector tBThe method comprises the following steps:
initial reference point P in view field under specific posture i of binocular vision cameraiHas visual coordinates of
Which can be measured by a binocular vision camera. If the initial attitude visual coordinate system is taken as the standard coordinate system, the reference point
And itCoordinates in a standard coordinate system
There is the following relationship between:
wherein the content of the first and second substances,
the two-degree-of-freedom tripod head is a reversion matrix from the attitude i to the attitude i-1, and the reversion matrix is determined by the relative rotation angle of the two-degree-of-freedom tripod head between the two attitudes. The formula is arranged to obtain:
for reference point coordinates within an arbitrary field of view
The coordinates of the coordinate system under the standard coordinate system can be determined according to the formula
On the basis of the above embodiment, determining the length L and the growth inclination angle ω of the main stem of the plant based on the coordinates of the reference points in the image information of the main stem in the plurality of fields of view in the standard coordinate system specifically includes:
wherein a and b satisfy the formula
Specifically, taking the plant target tomato stem as an example, the stem shape is approximately a spatial straight line, and the spatial straight line passes through the initial reference point of the stem
The spatial straight line can thus be expressed as:
from the above formula, one can obtain:
wherein a ═ k1/k2、b＝k2/k3。
The deviation of the discrete spatial points from the fitted line equation is expressed as follows:
according to the principle of least square algorithm, the above formula respectively calculates the partial derivatives of a and b, makes the partial derivatives zero, and respectively calculates a and b as:
let k 31, the direction vector l of the stem in the standard coordinate system is obtained as (a, b,1), and the growth inclination angle of the stem relative to the ground is obtained
Based on the above embodiment, taking the tracking start reference point in the ith field of view as the tracking target reference point in the (i + 1) th field of view specifically includes:
and determining the horizontal rotation angle alpha and the vertical rotation angle beta of the transferred view field of the binocular vision camera based on the coordinate values of the same space point in different view fields.
Based on the above-described embodiment, the horizontal rotation angle a and the vertical rotation angle β at which the binocular vision camera shifts the field of view are determined based on the following formulas,
in the formula (x)T,yT,zT) Is the coordinate of the holder coordinate system of the space point P, (x'T,y'T,z'T) The expected coordinates of the spatial point P after the binocular vision camera has been transferred.
Specifically, the binocular vision camera has the current coordinate (x) of the point P under the continuous postureC,yC,zC) And expected coordinates (x'C,y'C,z'C) The following relationships exist:
T-1[xC yC zC 1]T＝BT-1[x'C y'C z'C 1]T
wherein, B is a transformation matrix of the current and expected system postures of the two-degree-of-freedom holder, and the included unknowns alpha and beta are the successive winding of the holder around ZTAnd XTIncremental angular displacement of shaft rotation. Let the coordinate of the pan-tilt coordinate system of the space point P be expressed as (x)T,yT,zT) Then, it can be obtained according to the above formula.
[xT yT z'T 1]T＝B[x'T y'T z'T 1]T
Combination formula
The following system of equations is obtained:
thereby obtaining
Wherein
Substituting β into the other equations in the above equation can solve for α.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 6, the electronic device may include: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call logical commands in the memory 630 to perform the following method: acquiring stem image information of a plant under a plurality of view fields, and determining plant stem three-dimensional morphological information based on the plurality of stem image information; each main stem image information comprises a tracking target reference point which is positioned at the lowest end of a central line of the main stem of the plant in a corresponding view field and a tracking starting reference point which is positioned in the middle of the main stem of the plant; acquiring stem image information of plants under multiple visual fields comprises the following steps: and taking the tracking starting reference point in the ith field of view as the tracking target reference point in the (i + 1) th field of view.
In addition, the logic commands in the memory 630 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic commands are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of commands for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, and the method includes: acquiring stem image information of a plant under a plurality of view fields, and determining plant stem three-dimensional morphological information based on the plurality of stem image information; each main stem image information comprises a tracking target reference point which is positioned at the lowest end of a central line of the main stem of the plant in a corresponding view field and a tracking starting reference point which is positioned in the middle of the main stem of the plant; acquiring stem image information of plants under multiple visual fields comprises the following steps: and taking the tracking starting reference point in the ith field of view as the tracking target reference point in the (i + 1) th field of view.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A plant shape visual tracking measurement method for agricultural robot operation is characterized in that stem image information of a plant under multiple view fields is obtained, and plant stem three-dimensional shape information is determined based on the multiple stem image information; each main stem image information comprises a tracking target reference point which is positioned at the lowest end of a central line of the plant main stem in the corresponding view field and a tracking starting reference point which is positioned in the middle of the plant main stem;
the acquiring of the stem image information under multiple fields of view of the plant comprises: taking a tracking starting reference point in the ith field of view as a tracking target reference point in the (i + 1) th field of view;
the information of the stem image is acquired through a multi-view visual system, and the multi-view visual system comprises a binocular visual camera and a two-degree-of-freedom holder mechanism for mounting the binocular visual camera;
the taking of the tracking start reference point in the ith field as the tracking target reference point in the (i + 1) th field specifically includes: and determining the horizontal rotation angle alpha and the vertical rotation angle beta of the transferred view field of the binocular vision camera based on the coordinate values of the same space point in different view fields.
2. The agricultural robot-oriented plant morphology vision tracking and measuring method according to claim 1, wherein the determining plant stem stereomorphology information based on a plurality of the stem image information comprises:
and determining the three-dimensional information of the plant based on the plurality of stem image information, and determining the three-dimensional morphological information of the plant stem based on the three-dimensional information.
3. The agricultural robot-oriented plant morphology vision tracking and measuring method according to claim 2, wherein the determining of the stereoscopic information of the plant based on the plurality of stem image information comprises:
and converting the stem image information in the multiple fields of view into a standard coordinate system by using a binocular vision camera coordinate system under the initial field of view as the standard coordinate system, and determining the length L and the growth inclination angle omega of the plant stem based on the coordinates of the reference points in the stem image information in the standard coordinate system under the multiple fields of view.
4. The agricultural robot-oriented plant morphology vision tracking measurement method according to claim 3, wherein the converting the stem image information in a plurality of fields of view into a standard coordinate system comprises:
reference points in the stem image information
Converting the coordinate into the coordinate under the standard coordinate system according to the following formula
Wherein the content of the first and second substances,
is a reverse transformation matrix from an initial attitude to an attitude i of the two-degree-of-freedom pan-tilt mechanism, and T is a pan-tilt coordinate system OT-XTYTZTAnd a visual coordinate system OC-XCYCZCA transformation matrix between.
5. The agricultural robot-oriented plant form visual tracking and measuring method according to claim 4, wherein the determining of the length L and the growth inclination angle ω of the plant stem based on the coordinates of the reference points in the stem image information in the plurality of fields of view in a standard coordinate system specifically comprises:
wherein a and b satisfy the formula
6. The plant form vision tracking measurement method for agricultural robot operation as claimed in claim 1, wherein the horizontal rotation angle α and the vertical rotation angle β of the binocular vision camera transferred field of view are determined based on the following formula,
in the formula (x)T,yT,zT) Is the coordinate of the holder coordinate system of the space point P, (x'T,y'T,z'T) The expected coordinates of the spatial point P after the binocular vision camera has been transferred.
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